基于微机电系统与径向基函数的水下航行器姿态检测

doi:10.3969/j.issn.1000-1158.2022.09.05

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摘要为实现水下航行器自主运动控制,准确掌握水下航行器的运动姿态至关重要。微机电系统惯性传感器因具有体积小、成本低和功耗低等特点,被广泛应用于姿态检测系统当中。由于海底的工作环境复杂,故水下航行器在实验过程中设定有一定的非合作性;因此设计采用径向基函数神经网络算法对采集数据进行训练与分类。实验结果表明,微机电系统惯性传感器结合径向基函数神经网络算法对水下航行器的基本行为识别的平均召回率可达94%。

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	张春宇
	刘福才
	程雪聪

关键词 ：计量学, 姿态检测, 惯性传感器, 微机电系统, 径向基函数, 神经网络算法

Abstract：In order to realize the autonomous motion control of the underwater vehicle, it is very important to master the motion attitude of underwater vehicle accurately. Current micro-electro-mechanical system (MEMS) inertial sensors have small size and low cost. It is widely used in attitude detection systems because of its low power consumption and other characteristics. Due to the complex working environment of the seabed, the underwater vehicle is set to be non-cooperative. Radial basis function neural network algorithm is used to train and classify the detection data. The experimental results show that the average recall rate of micro-electro-mechanical system inertial sensor equipped with radial basis function neural network algorithm for basic behavior recognition of underwater vehicle is 94%, which has certain engineering practical significance.

Key words： metrology attitude detection inertial sensor MEMS radial basis function neural network algorithm

收稿日期: 2021-04-12 发布日期: 2022-09-19

PACS:

TB92

基金资助:河北省自然科学基金(F2022203043)

通讯作者: 刘福才(1966-), 黑龙江勃利人, 燕山大学教授, 博士生导师, 从事空间机构运动行为分析与控制技术研究。Email: lfc@ysu.edu.cn E-mail: lfc@ysu.edu.cn

作者简介: 张春宇(1994-), 黑龙江宾县人, 燕山大学在读硕士研究生, 主要研究方向为水下航行器姿态检测与导航定位。Email: 1392592970@qq.com

引用本文:

张春宇,刘福才,程雪聪. 基于微机电系统与径向基函数的水下航行器姿态检测[J]. 计量学报, 2022, 43(9): 1135-1141.
ZHANG Chun-yu,LIU Fu-cai,CHENG Xue-cong. Attitude Detection of Underwater Vehicle Based on MEMS and Radial Basis Function. Acta Metrologica Sinica, 2022, 43(9): 1135-1141.

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